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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Before We Trust Them: Decision-Making Failures in Navigat...
Jua Han, Jaeyoon Seo, Jungbin Min, Sieun Choi, Huichan Seo, Jihi · 2026-01-09 · via cs.RO updates on arXiv.org

High success rates on navigation-related tasks do not necessarily translate into reliable decision making by foundation models. To examine this gap, we evaluate current models on six diagnostic tasks spanning three settings: reasoning under complete spatial information, reasoning under incomplete spatial information, and reasoning under safety-relevant information. Our results show that the current metrics may not capture critical limitations of the models and indicate good performance, underscoring the need for failure-focused analysis to understand model limitations and guide future progress. In a path-planning setting with unknown cells, GPT-5 achieved a high success rate of 93%; Yet, the failed cases exhibit fundamental limitations of the models, e.g., the lack of structural spatial understanding essential for navigation. We also find that newer models are not always more reliable than their predecessors on this end. In reasoning under safety-relevant information, Gemini-2.5 Flash achieved only 67% on the challenging emergency-evacuation task, underperforming Gemini-2.0 Flash, which reached 100% under the same condition. Across all evaluations, models exhibited structural collapse, hallucinated reasoning, constraint violations, and unsafe decisions. These findings show that foundation models still exhibit substantial failures in navigation-related decision making and require fine-grained evaluation before they can be trusted.